Automatic control systems for vehicles

ABSTRACT

An apparatus for use with a car includes: an input configured to receive data from a laser device; a processing unit configured to process the data from the laser device, and to determine a control signal for controlling a component of the car; and an output for providing the control signal for controlling the component of the car.

RELATED APPLICATION DATA

This application is a continuation of U.S. patent application Ser. No.15/348,766 filed on Nov. 10, 2016, pending, which is a continuation ofU.S. patent application Ser. No. 15/009,383, filed on Jan. 28, 2016,issued as U.S. Pat. No. 9,505,343, which is a continuation of U.S.patent application Ser. No. 13/770,970, filed on Feb. 19, 2013, issuedas U.S. Pat. No. 9,248,777, which is a continuation of U.S. patentapplication Ser. No. 13/191,404, filed on Jul. 26, 2011, issued as U.S.Pat. No. 8,378,805, which is a continuation of U.S. patent applicationSer. No. 12/360,081, filed on Jan. 26, 2009, issued as U.S. Pat. No.7,986,223, which is a continuation of U.S. patent application Ser. No.11/046,047, filed on Jan. 28, 2005, issued as U.S. Pat. No. 7,482,916,which claims the benefit of U.S. Provisional Patent Application No.60/553,426, filed on Mar. 15, 2004, the entire disclosure of both ofwhich is expressly incorporated by reference herein.

FIELD

The field of the application pertains to systems and methods foroperating a vehicle.

BACKGROUND

The exterior turn signal lights of a vehicle serve many importantfunctions during operation of the vehicle. For examples, activation ofthe exterior turn signal light informs pedestrian and/or drivers thatthe driver of the subject vehicle is about to make a turn or wish tomake a lane change. In addition, activation of the exterior turn signallight warns other drivers that one is making a lane change. This isparticularly important when operating a vehicle in a highway or freeway.Drivers of vehicles occasionally make lane change and turn atintersections, but many of these drivers fail to use the exterior turnsignal lights to inform other drivers of the lane change and turnmaneuvers. As the result, this increases the risk of having an accident.Each year, approximately 50,000 people die and approximately threemillion people are injured as the result of traffic accidents. Trafficaccidents cost insurance companies and automobile manufacturers over ahundred million dollars each year.

The use of exterior turn signal lights while making lane change has thebenefit of improving the awareness of other drivers, and hence, allowingthe drivers to make better judgment, such as to brake or to change adirection of motion, in order to avoid an accident.

Embodiments described herein relate to a system and method forautomatically controlling an operation of a vehicle that involves use ofa turn signal lever.

SUMMARY

An apparatus for use with a car includes: an input configured to receivedata from a laser device; a processing unit configured to process thedata from the laser device, and to determine a control signal forcontrolling a component of the car; and an output for providing thecontrol signal for controlling the component of the car.

Optionally, the processing unit is configured to process the data fromthe laser device to determine a spatial relationship between the car andan environment in which the car is traveling.

Optionally, the control signal is for controlling a signaling system ofthe car.

Optionally, the processing unit is configured to process the data fromthe laser device to identify an intersection.

Optionally, the processing unit is configured to process the data fromthe laser device to identify a road sign.

Optionally, the processing unit is configured to process the data fromthe laser device to identify a traffic light.

Optionally, the processing unit is configured to process the data fromthe laser device to identify a pedestrian curb.

Optionally, the processing unit is configured to process the data fromthe laser device to identify a pedestrian.

Optionally, the processing unit is configured to process the data fromthe laser device to identify a vehicle.

Optionally, the processing unit is also configured to receiveinformation from a wireless network.

An apparatus for use with a car includes: a processing unit configuredto receive data from a laser device, the processing unit configured toautomatically activate a turn signal light of the car based on thereceived data to thereby obviate a need for manual activation of theturn signal light.

Optionally, the processing unit is configured to operate independent ofa turning angle of a wheel of the car.

Optionally, the apparatus further includes the laser device. Optionally,the processing unit is configured to identify a portion of a lane inwhich the car is traveling.

Optionally, the processing unit is configured to automatically activatethe turn signal light of the car that corresponds with a lane changedirection.

Optionally, apparatus of claim 11, wherein the processing unit isconfigured to identify an intersection, a road sign, a traffic light, apedestrian curb, or any combination of the foregoing, based on the datafrom the laser device.

Optionally, the processing unit is configured to process the data fromthe laser device to identify a pedestrian.

Optionally, the processing unit is configured to process the data fromthe laser device to identify a vehicle.

Other and further aspects and features of the embodiments will beevident from reading the following detailed description of theillustrated embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings illustrate the design and utility of embodiments, in whichsimilar elements are referred to by common reference numerals. Thesedrawings are not necessarily drawn to scale. In order to betterappreciate how the above-recited and other advantages and objects areobtained, a more particular description of the embodiments will berendered, which are illustrated in the accompanying drawings. Thesedrawings depict only typical embodiments and are not therefore to beconsidered limiting of its scope.

FIG. 1 illustrates a top view of a vehicle having an automatic signalingsystem that includes a sensor and a processor in accordance with someembodiments;

FIG. 1A illustrates an automatic signaling system in accordance withsome embodiments;

FIG. 2A illustrates an image captured by the sensor of the automaticsignaling system of FIG. 1;

FIG. 2B illustrates an image captured by the sensor of the automaticsignaling system of FIG. 1;

FIG. 2C illustrates an image captured by the sensor of the automaticsignaling system of FIG. 1;

FIG. 3A illustrates a top view of a vehicle having an automaticsignaling system in accordance with other embodiments, showing theautomatic signaling system having two sensors;

FIG. 3B illustrates the top view of the vehicle of FIG. 3A, showing thevehicle making a lane change maneuver;

FIG. 4 illustrates a top view of a vehicle having an automatic signalingsystem in accordance with other embodiments, showing the automaticsignaling system having two sensors mounted on respective left and rightsides of the vehicle;

FIG. 5A illustrates an image captured by the sensor of the automaticsignaling system of FIG. 4;

FIG. 5B illustrates an image captured by the sensor of the automaticsignaling system of FIG. 4;

FIG. 5C illustrates an image captured by the sensor of the automaticsignaling system of FIG. 4;

FIG. 5D illustrates an image captured by the sensor of the automaticsignaling system of FIG. 4;

FIG. 6A illustrates a schematic block diagram of an automatic signalingsystem that has speed sensing capability in accordance with otherembodiments;

FIG. 6B illustrates a schematic block diagram of an automatic signalingsystem that has light sensing capability in accordance with otherembodiments;

FIG. 6C illustrates a schematic block diagram of an automatic signalingsystem that has moisture sensing capability in accordance with otherembodiments;

FIG. 7 illustrates a schematic block diagram of an automatic signalingsystem that has learning capability in accordance with otherembodiments;

FIG. 8 is a diagram illustrating a path of a vehicle that is swayingleft and right as the vehicle is traveling within a lane;

FIG. 9A illustrates a switch for activating and deactivating anautomatic signaling system in accordance with some embodiments;

FIG. 9B illustrates a switch for activating and deactivating anautomatic signaling system in accordance with other embodiments; and

FIG. 10 illustrates a block diagram of an embodiment of a computersystem upon which embodiments may be implemented.

DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS

Various embodiments are described hereinafter with reference to thefigures. It should be noted that the figures are not drawn to scale andelements of similar structures or functions are represented by likereference numerals throughout the figures. It should also be noted thatthe figures are only intended to facilitate the description of specificembodiments. They are not intended as an exhaustive description of theinvention or as a limitation on the scope of the invention. In addition,an aspect described in conjunction with a particular embodiment is notnecessarily limited to that embodiment and can be practiced in any otherembodiments.

Automatic Signaling System

FIG. 1 illustrates a vehicle 50 having an automatic signaling system 10in accordance with some embodiments. The vehicle 50 includes a turnsignaling system 18 having left turn signal lights 52, 56 and right turnsignal lights 54, 58. In other embodiments, the turn signaling system 18also includes additional turn signal lights at the exterior side mirrorsof the vehicle 50. The left turn signal lights 52, 56 are located at afront end 51 and a rear end 53, respectively, and the right turn signallights 54, 58 are located at the front end 51 and the rear end 53,respectively, of the vehicle 50. The automatic signaling system 10includes a sensor 12, and a processor 14 with an input 30 coupled to thesensor 12 (FIG. 1A). The sensor 12 is mounted to the front end 51 of thevehicle 50, and is configured to sense a characteristic of anenvironment in which the vehicle 50 is traveling, and generate a signalrepresentative of the sensed characteristic of the environment. Theprocessor 14 is coupled to the turn signaling system 18 of the vehicle50 at output 32 of the processor 14 (FIG. 1A), and is configured toactivate the left turn signal lights 52, 56, or the right turn signallights 54, 68 of the vehicle 50 based at least on the signal generatedby the sensor 12. The automatic signaling system 10 may or may notinclude the turn signaling system 18 of the vehicle 20. In someembodiments, the processor 14 is coupled to the sensor 12 via a cablethat includes at least one wire. In such cases, the sensor 12 transmitssignal to the processor 14 via the cable. Alternatively, the automaticsignaling system 10 does not include the cable, but a wirelesstransmitter and a wireless receiver. In such cases, the sensor 12transmits signal to the processor 14 using the wireless transmitter, andthe processor 14 receives the signal using the wireless receiver. Othersignal transmitting and receiving devices and techniques can also beused by the automatic signaling system 10. Although the sensor 12 andthe processor 14 are shown as separate components, in some embodiments,the sensor 12 and the processor 14 can be integrated as a single unit.In addition, although the processor 14 is illustrated as being mountedat a front of the vehicle 50, in alternative embodiments, the processor14 can be mounted to other locations in the vehicle 50.

In the illustrated embodiments, the sensor 12 includes a camera, such asa charge coupled device (CCD) camera, for capturing an image of at leasta portion of a lane 60 in which the vehicle 50 is traveling.Alternatively, the sensor 12 can include other optical devices know inthe art for capturing an image of at least a portion of the lane 60. Insome embodiments, the sensor 12 is rotatably mounted to the vehicle 50such that a viewing direction can be adjusted. For example, the sensor12 can include a first hinge connection that allows the sensor 12 to berotated about a vertical axis, and/or a second hinge connection thatallows the sensor 12 to be rotated about a horizontal axis. The sensor12 can also be slidably mounted to the vehicle 50 such that an elevationof the sensor 12 can be adjusted. In other embodiments, the sensor 12 isfixedly mounted to the vehicle 50, and cannot be positioned.

It should be noted that the type of sensor 12 that may be used is notlimited to the examples discussed previously, and that other types ofsensor can also be used to sense at least a portion of the lane 60. Forexample, in some embodiments, the sensor 12 may be a light sensor. Insuch cases, the sensor 12 is configured to sense light reflected by areflector of a lane, and light signal is then transmitted from thesensor 12 to the processor 14 for processing. A light source may besecured adjacent the sensor 12 to generate light that may be reflectedby a reflector of a lane. In such cases, the processor 14 can analyzethe light signal to determine whether it is that associated with a laneboundary. For example, a frequency, intensity, and/or a color of thelight signal may be processed by the processor 14 to determine whetherthe light signal is associated with a lane identifier, a head light of acar, a reflector of a car, or other light elements, such as a streetlight. In other embodiments, the automatic signaling system 10 caninclude other types of transmitter, such as an infrared transmitter or aradio frequency transmitter, that transmits a signal or energy to asurface of the road, and a corresponding sensor for sensing a reflectedsignal or energy. In other embodiments, the sensor 12 can also be acolor sensor for sensing a color associated with a lane boundary. Infurther embodiments, the sensor 12 can include an infrared device, alaser device, or any of the devices described in U.S. Pat. Nos.4,348,652, 5,979,581, 5,790,403, 5,957,983, and 5,982,278, and U.S.Patent Application Publication No. 2002/0175813, for detecting apresence or an absence of a lane boundary.

The processor 14 can be one of a variety of types of devices. In theillustrated embodiments, the processor 14 includes anapplication-specific integrated circuit (ASIC), such as a semi-customASIC processor or a programmable ASIC processor. ASICs, such as thosedescribed in Application-Specific Integrated Circuits by Michael J. S.Smith, Addison-Wesley Pub Co. (1st Edition, June 1997), are well knownin the art of circuit design, and therefore will not be described infurther detail herein. In alternative embodiments, the processor 14 caninclude a general purpose processor, such as a Pentium processor. Itshould be noted that the processor 14 is not limited to those describedpreviously, and that the processor 14 can be any of a variety ofcircuits or devices that are programmed and/or constructed to performthe functions described herein. In some embodiments, the processor 14can be a processor associated with a computer or the computer itself.The processor 14 should be capable of performing calculation and/orprocessing of image signals at sufficient speed so that substantialreal-time output can be generated. Substantial real-time output is anoutput that is generated without significant lag time due to processing.Since road condition can change within a short period, it is preferableto use a fast processor. In some embodiments, the processor 14 may alsoinclude a medium for storing programmed instructions and/or data.

Examples of Techniques Used by the Automatic Signaling System

Embodiments of a method of using the automatic signaling system 10 willnow be described. When using the automatic signaling system 10, thesensor 12 captures images of the lane 60 in which the vehicle 50 istraveling and transmits image signals to the processor 14. The processor14 analyzes the image signals to determine if the vehicle 50 is making alane change based on a prescribed criteria. If it is determined that thevehicle 50 is making a lane change, the processor 14 then activatesappropriate turn signal lights 52, 54, 56, 58 of the vehicle 50.

FIG. 2A shows a graphic representing an image (or image frame) 200 athat has been captured by the sensor 12 when the vehicle 50 is travelingapproximately along a center line 61 of the lane 60 in a directionrepresented by arrow 70. The image 200 a includes an image of a first(right) boundary 62 and a second (left) boundary 64 of the lane 60 inwhich the vehicle 50 is traveling. In the illustrated embodiments, thelane boundaries 62, 64 are shown as dashed lines. Alternatively, eitherof the lane boundaries 62, 64 can be a solid line, double solid lines,double dashed lines, or other types of line. FIG. 2B shows a graphicrepresenting another image 200 b that has been captured by the sensor 12when the vehicle 50 is making a lane change. In such case, the vehicle50 has traveled substantially away from the center line 61 of the lane60, and is moving towards the right boundary 62 of the lane 60. FIG. 2Cshows a graphic representing another image 200 c that has been capturedby the sensor 12 when the vehicle 50 has completed a lane changemaneuver and is traveling within lane 68. The processor 14 is configuredto analyze images (e.g., the images 200 a-200 c) transmitted from thesensor 12, and determine whether a prescribed criteria representing thevehicle 50 making a lane change is met. If the criteria is met, theprocessor 14 then selectively activates the right turn signal lights 54,58 or the left turn signal lights 52, 56 that correspond to thedirection of the lane change. It should be understood by those skilledin the art that the images 200 a-200 c are graphical representation ofimage data generated by the sensor 12, and that the image data need notbe displayed in visual form. As such, the term “image” refers to bothdisplayed image and image data/signal that is not displayed.

In some embodiments, the processor 14 locates at least a portion 202 ofthe right boundary 62 in each of the images 200 a-c, and determineswhether to activate the turn signal lights of the vehicle 50 based on aposition of the portion 202 relative to each of the images 200 a-c. Forexample, when the vehicle 50 is traveling along the center line 61 ofthe lane 60, the portion 202 of the right boundary 62 is locatedadjacent a right side 220 of the image frame 200 a (FIG. 2A). When thevehicle 50 has traveled substantially away from the center line 61 ofthe lane 60, the portion 202 shifts away from the side 220 of the imageframe and is located closer to a center of the image 200 b (FIG. 2B).When the vehicle 50 has completely moved into the adjacent right lane68, the portion 202 is located adjacent a left side 222 of the imageframe 200 c (FIG. 2C). As such, by observing the portion 202 of theright boundary 62 in images generated by the sensor 12, the processor 14can determine a position of the vehicle 50 relative to the lane 60 inwhich it is traveling based on a position of the portion 202 in theimages. If the vehicle 50 is within a prescribed distance, such as 0 to3 feet, and preferably 0 to 6 inches, from the right boundary 62, thenthe processor 14 considers the vehicle 50 as making a lane changemaneuver towards the adjacent right lane 68, and activates the rightturn signal lights 54, 58. Similarly, if the vehicle 50 is within aprescribed distance, such as 0 to 3 feet, and preferably 0 to 6 inches,from the left boundary 64, then the processor 14 considers the vehicle50 as making a lane change maneuver towards the adjacent left lane 66,and activates the left turn signal lights 52, 56. In some embodiments,the processor 14 is configured to monitor the position of only theportion 202 of the right boundary 62, and determine whether to activatethe turn signaling system 18 based on the position of the portion 202 ofthe right boundary 62. In other embodiments, the processor 14 isconfigured to monitor only the position of a portion 210 of the leftboundary 64, and determine whether to activate the turn signaling system18 based on the position of the portion 210 of the left boundary 64. Inother embodiments, the processor 14 is configured to monitor both thepositions of the portions 202, 210 of the respective lane boundaries 62,64, and determine whether to activate the turn signaling system 18 basedon the positions of the portions 202, 210. As used in thisspecification, the terms, “portion” (of a boundary), and “boundary”,each refers to any physical objects that define a lane boundary, andincludes one or more lane markers, one or more reflectors, and roadpaint.

In some embodiments, a right boundary 208 in an image frame can beprescribed, such that, when the vehicle 50 is within a prescribeddistance, such as 0 to 3 feet, and more preferably, 0 to 6 inches, fromthe right boundary 62 of the lane 60, the image of the portion 202 ofthe right boundary 62 would appear to the left of the boundary 208 in animage frame (FIG. 2B). In such cases, when the portion 202 appears tothe left of the boundary 208 (indicating that the vehicle 50 is withinthe prescribed distance from the right boundary 62), the processor 14activates the right turn signal lights 54, 58 of the turn signalingsystem 18. Similarly, a left boundary 212 can be prescribed, such that,when the vehicle 50 is within a prescribed distance, such as 0 to 3feet, and more preferably, 0 to 6 inches, from the left boundary 64, theimage of the portion 210 of the left boundary 64 would appear to theright of the boundary 212 in an image frame. In such cases, when theportion 210 appears to the right of the boundary 212 (indicating thatthe vehicle 50 is within the prescribed distance from the left boundary64), the processor 14 activates the left turn signal lights 52, 56 ofthe turn signaling system 18.

As shown in the above described embodiments, the processor 14 activatesthe turn signaling system 18 of the vehicle 50 independent of a turningangle of the wheels of the vehicle 50. Such configuration isadvantageous in that it prevents or reduces the risk of a timely and/oran inaccurate activation of the turn signaling system 18. For example,in some situations, a vehicle 50 may be steered towards a rightdirection as it is traveling in a curve lane, while moving towards anadjacent left lane. In such cases, if an automatic activation of theturn signaling system 18 depends on a turning angle of the wheels of thevehicle 50, the turn signaling system 18 may not be timely or correctlyactivated since the wheels of the vehicle 50 are turned towards a rightdirection that is opposite or different from a direction (i.e., the leftdirection) of lane change. Because the automatic signaling system 10does not rely a turning angle of the wheels to activate the turnsignaling system 18, the automatic signaling system 10 (or any of theembodiments of the automatic signaling system described herein) canaccurately and timely detect the lane change maneuver of the vehicle 50.

In the above described embodiments, the portions 202, 210 of the rightand left boundaries 62, 64, respectively, determined by the processor 14are the portions of the boundaries 62, 64 that are relatively closer tothe vehicle 50 as they appear within the image frame. Using the portions202, 210 of the boundaries 62, 64 that are closer to the vehicle 50 isadvantageous in that the positions of the portions 202, 210 in the imageframes do not change significantly when the vehicle 50 is travelingsubstantially along the center line 61 of the lane 60. This is so evenwhen the vehicle 50 is traveling within a curved lane. Sometimes, theprocessor 14 may not be able to detect the portions 202, 210 that areadjacent or relatively closer to the vehicle 50. In such cases, theprocessor 14 can be configured to estimate positions of the portions202, 210 based on images of other portions of the boundaries 62, 64 thatare located further away from the vehicle 50. For example, the processor14 can perform curve fitting functions to determine lines that bestalign with the detected portions of the boundaries 62, 64. Based on thedetermined lines, the processor 14 can estimate the portions 202, 210 ofthe respective boundaries 62, 64 that are adjacent or relatively closerto the vehicle 50.

The processor 14 can use one of a variety of image processing techniquesto identify images of the boundaries 62, 64 in image frames. Forexample, known filtering and discrimination techniques can be used. Theprocessor 14 can also perform color analysis, shape recognition, andlandmark identification, to determine whether an image in an image frameis that associated with either or both of the boundaries 62, 64. In someembodiments, the processor 14 uses a position of an image of a boundaryin a previous image frame to estimate a location of an image of aboundary in a current image frame. This is advantageous in that theprocessor 14 does not need to scan through an entire image frame toidentify an image of a lane boundary, thereby reducing processing time.In other embodiments, the processor 14 uses a position of a portion of aboundary in a previous image frame, and operation data (e.g., speed,acceleration, and/or steering direction) of the vehicle 50, to estimatea current position of the portion of the boundary in the current imageframe. In alternative embodiments, the processor 14 can be configured tocompare a portion of an image frame with a set of stored templates todetermine if the portion of the image frame contains an image of a laneboundary. In such cases, each of the stored templates contains an imageof at least a portion of a lane boundary. The images of the templatescan be actual images (e.g., real pictures), or alternatively,artificially created images, of lane boundaries having differentcharacteristics. For examples, different templates can be provided forlane boundaries that have different width, color, brightness, andspacing of lane markers. Different templates can also be provided forlane boundaries having different appearances when a vehicle is travelingat different speeds. If a portion of an image frame matches with one ofthe templates, then an image of a lane boundary is consideredidentified. It should be noted that other techniques can also be used,and that the scope of the invention should not be limited by theexamples of technique described herein.

In the above described embodiments, the processor 14 is configured toidentify image of the lane boundaries 62, 64 wherever they appear withinan image frame. In alternative embodiments, the processor 14 can beconfigured to monitor a prescribed area 250 in image frames. In suchcases, when the vehicle 50 is traveling along the center line 61 of thelane 60, the prescribed area 250 in the image 200 a does not have animage of the lane boundaries 62, 64 (FIG. 2A). When the vehicle 50 istraveling substantially away from the center line 61 of the lane 60 andis moving towards the right lane 68, a portion of the right boundary 62would appear from a right side in the prescribed area 250 (FIG. 2B). Asthe vehicle 50 continues to move towards the right lane 68, the portionof the right boundary 62 appeared in the prescribed area 250 would shiftfrom right to left in successive image frames. Similarly, when thevehicle 50 is traveling substantially away from the center line 61 ofthe lane 60 and is moving towards the left lane 66, an image of aportion of the left boundary 64 would appear from a left side in theprescribed area 250. As the vehicle 50 continues to move towards theleft lane 66, the portion of the left boundary 64 appeared in theprescribed area 250 would shift from left to right in successive imageframes. As such, by observing images in the prescribed area 250 withinimage frames, the processor 14 can determine whether the vehicle 50 istraveling approximately along the center line 61 of the lane 60 based ona presence or absence of an image of the right boundary 62 or the leftboundary 64 in the prescribed area 250. Also, by identifying an image ofa portion of the boundary within the prescribed area 250 in successiveimage frames, the processor 14 can determine whether the vehicle 50 istraveling towards the left lane 66 or the right lane 68. If theprocessor 14 determines that the vehicle 50 is traveling towards theright lane 68, the processor 14 then activates the right turn signallights 54, 58. If the processor 14 determines that the vehicle 50 istraveling towards the left lane 66, the processor 14 then activates theleft turn signal lights 52, 56.

In the above described embodiments, the sensor 12 is mounted such thatit can capture an image of the lane boundaries 62, 64 in front of thevehicle 50 as the vehicle 50 is traveling along the center line 61 ofthe lane 60. However, such needs not be the case. In other embodiments,the sensor 12 is mounted to the front end 51 of the vehicle 50 such thatthe sensor 12 aims towards a road surface adjacent to the front end 51of the vehicle 50. For example, the sensor 12 can be configured to aimtowards an area of the road in front of the vehicle 50 that is between 0to 10 feet from the front end 51 of the vehicle 50. In such cases, whenthe vehicle 50 is traveling along the center line 61 of the lane 60, animage frame captured by the sensor 12 includes only an image of a roadsurface between the lane boundaries 62, 64, and therefore, does notinclude an image of the lane boundaries 62, 64. However, as the vehicle50 is traveling away from the center line 61 of the lane 60 and towardsthe adjacent right lane 68, the sensor 12 captures an image of a portionof the right boundary 62 that has “moved” into a field of aiming of thesensor 12. Similarly, as the vehicle 50 is traveling away from thecenter line 61 of the lane 60 and towards the adjacent left lane 66, thesensor 12 captures an image of a portion of the left boundary 64 thathas “moved” into a field of aiming of the sensor 12. By determining aposition of the image of the boundary 62 or 64 as it appears in theimage frame, and/or a direction in which the image of the boundary 62 or64 appears to be moving in successive frames, the processor 14 candetermine whether the vehicle 50 is traveling towards the right lane 68or the left lane 66, and activates the appropriate turn signal lightsaccordingly.

It should be noted that the above described embodiments are examples oftechniques that can be used to determine a position of the vehicle 50relative to the lane 60, and that other techniques can be employed. Forexamples, in other embodiments, the processor 14 can be configured todetermine a line that best align with image of a portion of a laneboundary, and determine whether the vehicle 50 is traveling out of lane60 based on a characteristic, such as a curvature, a shape, a position,and an orientation, of the determined line. In other embodiments, theprocessor 14 can also determine an orientation of the vehicle 50relative to the lane 60 based on one or more characteristics (e.g.,position, orientation, and/or shape) of a lane boundary as it appears inan image frame. In such cases, if an axis 72 of the vehicle 50 is withina prescribed angle, such as 10° to 90°, from an instantaneous tangent ofa contour of the lane 60, then the processor 14 considers the vehicle 50as making a lane change and activates appropriate turn signal lights.Also, in other embodiments, the processor 14 can be configured topredict a future position of a portion of a boundary in a future imageframe, based on a position of a portion of the boundary in a previousimage frame, and operation data (e.g., speed, acceleration, and steeringdirection) of the vehicle 50. In such cases, the predicted position canbe verified subsequently to determine whether the vehicle 50 is making alane change maneuver.

In the above described embodiments, one sensor is used to capture imagesof at least a portion of the lane 60. However, in alternativeembodiments, the automatic signaling system 10 can include more than onesensor. FIG. 3A illustrates an automatic signaling system 300 inaccordance with other embodiments. The automatic signaling system 300includes a first sensor 302, a second sensor 304, and a processor 306coupled to the sensors 302, 304. In the illustrated embodiments, bothsensors 302, 304 are mounted to the front end 51 of the vehicle 50, withthe first sensor 302 located at a right side and the second sensor 304located at a left side of the vehicle 50. Particularly, the first sensor302 is mounted such that it can capture an image of a road surface thatis within a lateral distance 310 from the right side of the vehicle 50.Similarly, the second sensor 304 is mounted such that it can capture animage of a road surface that is within a lateral distance 312 from theleft side of the vehicle 50. In some embodiments, the distances 310, 312can be anywhere between 0 to 3 feet, and more preferably 0 to 6 inches.If the vehicle 50 is traveling approximately along the center line 61 ofthe lane 60, the images captured by the sensors 302, 304 would notinclude an image of the lane boundaries 62, 64. However, when thevehicle 50 is traveling substantially away from the center line 61 ofthe lane 60 and towards the adjacent right lane 68, an image field 312of the first sensor 302 will intercept the right boundary 62, therebycapturing an image of the right boundary 62 (FIG. 3B). Similarly, whenthe vehicle 50 is traveling substantially away from the center line 61of the lane 60 and towards the adjacent left lane 66, an image field 314of the second sensor 304 will intercept the left boundary 64, therebycapturing an image of the left boundary 64. As similarly discussedpreviously, the processor 306 analyzes image signals transmitted fromthe sensors 302, 304 to determine if an image of a lane boundary hasbeen captured. If it is determined that an image frame contains an imageof a lane boundary, the processor 306 then activates the appropriateturn signal lights of the turn signaling system 18.

It should be noted that any of the techniques discussed previously withreference to the automatic signaling system 10 can similarly be used bythe automatic signaling system 300. For example, in other embodiments,the first and the second sensors 302, 304 can be mounted to the vehicle50 such that they can capture the right and left boundaries 62, 64,respectively, of the lane 60 when the vehicle 50 is traveling along thecenter line 61 of the lane 60. In such cases, the processor 306 cananalyze the images, and determines whether the vehicle 50 is making alane change based on a characteristic, such as a position and/or anorientation, of the boundaries 62, 64 as they appear in image frames.

In the above described embodiments, the sensor 12 (or the sensors 302,304) is mounted near the front end 51 of the vehicle 50. However, inalternative embodiments, the sensor 12 (or the sensors 302, 304) can bemounted at other locations. For examples, the sensor 12 (or either ofthe sensors 302, 304) may be secured to a roof, a hood, a side mirror, arear view mirror (e.g., mirror that is secured to a front windshield orroof), a bottom frame, or other part(s) of the vehicle 50. Also, inother embodiments, the sensor 12 (or the sensors 302, 304) can bemounted such that it aims at other areas adjacent the vehicle 50.

FIG. 4 illustrates an automatic signaling system 400 in accordance withother embodiments. The automatic signaling system 400 includes a firstsensor 402, a second sensor 404, and a processor 406 coupled to thesensors 402, 404. The sensors 402, 404 are similar to the sensors 302,304, and the processor 406 is similar to the processor 306 describedpreviously. The first sensor 402 is mounted to a right side of thevehicle 50, and the second sensor 404 mounted to a left side of thevehicle 50 such that the first and the second sensors 402, 404 cancapture images of the right and left boundaries 62, 64, respectively.

FIG. 5A shows a graphic representing an image (or image frame) 500 athat has been captured by the first sensor 402 when the vehicle 50 istraveling approximately along a center line 61 of the lane 60 in adirection represented by the arrow 70. The image 500 a includes an imageof the right boundary 62 in which the vehicle 50 is traveling. FIG. 5Bshows a graphic representing another image 500 b that has been capturedby the first sensor 402 when the vehicle 50 is making a lane change. Insuch case, the vehicle 50 has traveled substantially away from thecenter line 61 of the lane 60, and is moving towards the right boundary62 of the lane 60. As can be seen from the image 500 b, as the vehicle50 travels towards the right boundary 62, the position of the image ofthe right boundary 62 shifts downward towards a bottom of an imageframe. The processor 406 is configured to determine whether the image ofthe right boundary 62 is below or above a threshold position, such asthat represented by the dotted line 502. If the position of the image ofthe right boundary 62 is above the threshold position, the processor 406does not activate the turn signaling system 18 of the vehicle 50. On theother hand, if the position of the image of the right boundary 62 in animage frame is below the threshold position, the processor 406 thenactivates the right turn signal lights 54, 58 of the vehicle 50.Operation of the second sensor 404 is similar to that discussed withreference to the first sensor 402, and therefore, will not be describedin further details.

In some embodiments, the processor 406 is configured to analyze imagesfrom both sensors 402, 404. In such cases, data from both sensors 402,404 are processed by the processor 406 to determine whether the vehicle50 is traveling towards the right lane 68 or the left lane 66. In otherembodiments, the processor 406 is configured to analyze images from theright sensor 402 only. In such cases, the automatic signaling system 400includes an additional processor for analyzing images from the secondsensor 404. Results of the analysis of images from both sensors 402, 404are then correlate with each other to determine whether the vehicle 50is traveling towards the right lane 68 or the left lane 66.

In some embodiments, instead of using both sensors 402, 404, theautomatic signaling system 400 has only one sensor (e.g., the sensor402) mounted to a side (e.g., a right side) of the vehicle 50. In suchcases, the processor 406 can determine whether the vehicle 50 istraveling towards the right lane 68 or the left lane 66 based on aposition of an image of the right boundary 62 relative to a firstthreshold 510 and a second threshold 512 in an image frame (FIG. 5C). Insuch cases, if the image of the right boundary 62 is between the firstand the second thresholds 510, 512, in an image frame, the vehicle 50 isconsidered as not making a lane change, and the processor 406 does notactivate the turn signaling system 18 of the vehicle 50. If the image ofthe right boundary 62 is below the first boundary 510 (indicating thatthe vehicle 50 has traveled closer towards the right boundary 62), theprocessor 406 then activates the right turn signal lights 54, 58 of thevehicle 50. On the other hand, if the image of the right boundary 62 isabove the second boundary 512 (indicating that the vehicle 50 hastraveled towards the left boundary 64), the processor 406 then activatesthe left turn signal lights 52, 56 of the vehicle 50.

In some embodiments, the threshold 510 (or 512) in an image frame issuch that an image of the right boundary 62 will be below the threshold510 when the vehicle 50 is within about 0 to 3 feet, or more preferably0 to 6 inches, away from the right boundary 62. Similarly, the threshold512 in an image frame is such that an image of the right boundary 62will be above the threshold 512 when the vehicle 50 is within about 0 to3 feet, or more preferably 0 to 6 inches, away from the left boundary64. In other embodiments, the thresholds 510, 512 can correspond todistances between the vehicle 50 and the lane boundaries 62, 64 that aredifferent from that described previously.

In some embodiments, the processor 406 determines whether to activatethe turn signaling system 18 of the vehicle 50 based on an orientationof the vehicle 50 relative to the lane 60. FIG. 5D shows a graphicrepresenting an image 500 c captured by the right sensor 402 when thevehicle 50 has turned substantially towards the right lane 68 such thatthe axis 72 of the vehicle 50 makes an angle with an instantaneoustangent of a contour of the lane 60. As can be seen from the image frame500 c, because the vehicle 50 has turned towards the right boundary 62,the right boundary 62 is slopped as it appears in the image frame 500 c.As such, by determining a slope of the right boundary 62 in an imageframe, the processor 406 can determine an orientation of the vehicle 50relative to the lane 60. If a slope of the right boundary 62 in an imageframe is greater than a threshold slope, such as 10° or greater,(indicating that the vehicle 50 has turned substantially towards theright lane 68), the processor 406 then activates the right turn signallights 54, 58 of the vehicle 50. On the other hand, if a slope of theright boundary 62 in an image frame is less than a threshold slope, suchas −10° or less, (indicating that the vehicle 50 has turnedsubstantially towards the left lane 66), the processor 406 thenactivates the left turn signal lights 52, 56 of the vehicle 10. Itshould be noted that the above described technique is operable even whenthe vehicle 50 is traveling along a curve lane because the boundary of alane will appear approximately rectilinear in an image frame. If theboundary of a lane appears curvilinear in an image frame, the processor406 can determine a straight line that best represents the curved laneboundary.

It should be noted that the technique employed by the automaticsignaling system 400 to determine a position of the vehicle 50 relativeto the lane 60 should not be limited to that described previously, andthat any of the techniques discussed previously with reference to theautomatic signaling system 10 or 300 can be similarly employed by theautomatic signaling system 400. In addition, any of the embodiments ofthe automatic signaling system described herein can use more than onecriteria to determine whether to activate the turn signaling system 18of the vehicle 50. For example, the processor 14 can be configured toactivate the turn signaling system 18 of the vehicle 50 when (1) thevehicle 50 is within a prescribed distance from one of the laneboundaries 62, 64, and (2) an angle between the axis 72 of the vehicle50 and an instantaneous tangent of a contour of the lane 60 is above orbelow a prescribed angle.

For any of the automatic signaling systems described herein, theprocessor (e.g., the processor 14, 306, or 406) can be furtherconfigured to determine a width of a lane in which the vehicle 50 istraveling based on data received from the sensor (e.g., the sensor 12,302, 304, 402, 404), and adjust a criteria for activating the turnsignaling system 18. For example, if a relatively narrow lane isdetected, the processor 14 then activates the turn signaling system 18of the vehicle 50 when the vehicle 50 is, for example, within 0 to 1foot, from one of the lane boundaries 62, 64. On the other hand, if arelatively wide lane is detected, the processor 14 then activates thesignaling system 18 when the vehicle 50 is, for example, within 0 to 2feet, from one of the lane boundaries 62, 64. In some embodiments, theprocessor activates the turn signaling system 18 of the vehicle 50 whena side of the vehicle 50 is within a distance D=k×(W_(l)−W_(v))/2 fromone of the lane boundaries 62, 64, where k is a value between 0 to 1.0,W_(l) is a width of the lane 60, and W_(v) is a width of the vehicle 50.In such cases, a sensitivity of the automatic signaling system can beadjusted by varying the value k (with k=0 corresponding to a minimumsensitivity of the automatic signaling system, and k=1.0 correspondingto a maximum sensitivity of the automatic signaling system). In otherembodiments, any of the embodiments of the automatic signaling systemdescribed herein can be further configured to adjust a criteria foractivating and/or deactivating the signaling system 18 based on otherdetected conditions, such as, a brightness of an environment, a weathercondition, or an operational condition (such as a speed) of the vehicle50.

Although methods of automatically activating the turn signaling system18 of the vehicle 50 have been described, any of the techniquesdescribed herein can similarly be used to automatically deactivate theturn signaling system 18 of the vehicle 50. Particularly, after turnsignal lights of the vehicle 50 have been activated, similar techniquescan be used to determine whether the vehicle 50 has completed a lanechange. If the vehicle 50 has completed a lane change, the automaticsignaling system then automatically deactivates (i.e., turn off) theactivated turn signal lights. In other embodiments, instead ofdetermining whether the vehicle 50 has completed a lane change, theautomatic signaling system automatically deactivates the turn signallights after the turn signal lights have been activated for a prescribednumber of times (e.g., three times), or for a prescribed period (e.g.,three seconds).

Although several methods of automatically activating and/or deactivatingthe turn signaling system 18 of the vehicle 50 have been described, itshould be noted that these are only examples of techniques which can beused by the automatic signaling system, and that the scope of theinvention should not be so limited. In alternative embodiments, theautomatic signaling system can use other techniques to determine aposition and/or orientation of the vehicle 50 relative to a lane inwhich it is traveling, and/or other criteria to determine whether toactivate the turn signaling system 18 of the vehicle 50, based on thedetermined position and/or orientation of the vehicle 50 relative to thelane. It should be understood by those skilled in the art that thespecific technique(s) used will depend on a mounting position, mountingorientation, frame rate, field of vision, distance range, and type, ofthe sensor(s) being employed.

Automatic Signaling System with Speed Sensing Capability

FIG. 6A illustrates a schematic block diagram of an automatic signalingsystem 600 in accordance with other embodiments. The automatic signalingsystem 600 includes a sensor 602, and a processor 604 coupled to thesensor 602. The sensor 602 is configured for sensing a condition of anenvironment in which the vehicle 50 is traveling, and the processor 604is configured to automatically activate and/or deactivate the turnsignaling system 18 of the vehicle 50 based on the sensed condition bythe sensor 602. The sensor 602 and the processor 604 can be any of thesensors and processors, respectively, described herein, and theoperations and functionalities of the sensor 602 and the processor 604are similar to those described previously. However, unlike thepreviously described embodiments, the processor 604 of the automaticsignaling system 600 is further configured to be coupled to a speedsensor 606 for sensing a speed of the vehicle 50. The speed sensor 606can be a speed sensor that is already included with the vehicle 50, oralternatively, a separate speed sensor. The automatic signaling system600 may or may not include the speed sensor 606.

During use, the processor 604 receives data from the speed sensor 606regarding a speed of the vehicle 50, and uses the speed data as acriteria for allowing automatic control of the turn signaling system 18of the vehicle 50. In such cases, the processor 604 does not allowautomatic activation of the signaling system 18 when the vehicle 50 istraveling below a prescribed speed. A prescribed speed can be 35 mph, 45mph, 55 mph, 65 mph, or other speed limits. As such, the signalingsystem 18 of the vehicle 50 can only be activated manually when thevehicle 50 is traveling below the prescribed speed. However, when thevehicle 50 is traveling above the prescribed speed, the processor 604then controls an activation and/or deactivation of the turn signalingsystem 18, as similarly discussed previously.

In other embodiments, the automatic signaling system 600 includes aswitch (not shown) that is coupled to the speed sensor 606. In suchcases, the switch activates and deactivates the sensor 602 and/or theprocessor 604, or block signals from the processor 604 to the turnsignaling system 18, when a speed of the vehicle 50 is below aprescribed speed. When the vehicle 50 is traveling above the prescribedspeed, the switch activates the sensor 602 and/or the processor 604, orallows signals be transmitted from the processor 604 to the signalingsystem 18, thereby allowing the processor 604 to control the turnsignaling system 18. The switch can be a separate component from theprocessor 604, or alternatively, be a part of the processor 604.

In other embodiments, instead of, or in addition to, using the speeddata for allowing control of the turn signaling system 18, the speeddata can also be used to determine a criteria for activating the turnsignaling system 18. In such cases, the processor 604 selects differentcriteria for activating the turn signaling system 18 of the vehicle 50based on a speed data received from the speed sensor 606. For example,when the vehicle 50 is traveling above a prescribed speed (e.g., 55mph), the automatic signaling system 600 automatically activates theturn signaling system 18 of the vehicle 50 when the vehicle 50 is, forexample, less than 12 inches, from a lane boundary. However, when thevehicle 50 is traveling below the prescribed speed, the automaticsignaling system automatically activates the signaling system 18 whenthe vehicle 50 is, for example, less than 6 inches, from a laneboundary. Such technique may be desirable because it allows the vehicle50 that is traveling at a relatively slower speed to detract relativelymore from the center line 61 of the lane 60 before activating thesignaling system 18. In other embodiments, similar techniques can beused to allow the vehicle 50 that is traveling at a relatively fasterspeed to detract relatively more from the center line 61 of the lane 60before activating the signaling system 18.

Automatic Signaling System with Light Sensing Capability

In some cases, a sensor of an automatic signaling system may capturebetter images when the vehicle 50 is in a bright environment. As such,it may be desirable to allow automatic control of the turn signalingsystem 18 when an environment in which the vehicle 50 is being operatedis bright enough. FIG. 6B illustrates a schematic block diagram of anautomatic signaling system 620 in accordance with other embodiments. Theautomatic signaling system 620 includes a sensor 622, and a processor624 coupled to the sensor 622. The sensor 622 is configured for sensinga condition of an environment in which the vehicle 50 is traveling, andthe processor 624 is configured to automatically activate and/ordeactivate the turn signaling system 18 of the vehicle 50 based on thesensed condition by the sensor 622. The sensor 622 and the processor 624can be any of the sensors and the processors, respectively, describedherein, and the operations and functionalities of the sensor 622 and theprocessor 624 are similar to those described previously. However, unlikethe previously described embodiments, the processor 624 of the automaticsignaling system 620 is further configured to be coupled to a lightsensor 626 for sensing a light impinged on the vehicle 50. The lightsensor 626 is preferably secured to a roof of the vehicle 50, but can besecured to other locations in other embodiments. The automatic signalingsystem 620 may or may not include the light sensor 626.

During use, the processor 624 receives data or signal from the lightsensor 626 regarding a brightness of an environment in which the vehicle50 is being operated, and uses the light data or signal as a criteriafor allowing automatic control of the turn signaling system 18 of thevehicle 50. In such cases, the processor 624 does not allow automaticactivation of the turn signaling system 18 if the light data indicatesthat a brightness of the environment is below a prescribed level.However, when the brightness of the environment is above the prescribedlevel, the processor 624 then controls an activation and/or deactivationof the signaling system 18, as similarly discussed previously.

In other embodiments, the automatic signaling system 620 includes aswitch (not shown) that is coupled to the light sensor 626. In suchcases, the switch activates and deactivates the sensor 622 and/or theprocessor 624, or block signals from the processor 624 to the turnsignaling system 18, when data or signal from the light sensor 626indicates that a brightness of an environment is below a prescribedlevel. On the other hand, when data or signal from the light sensor 626indicates that a brightness of an environment is above the prescribedlevel, the switch activates the sensor 622 and/or the processor 624, orallows signals be transmitted from the processor 624 to the turnsignaling system 18, thereby allowing the processor 624 to control theturn signaling system 18. The switch can be a separate component fromthe processor 624, or alternatively, be a part of the processor 624.

In alternative embodiments, instead of the light sensor 626, theautomatic signaling system 620 can include other types of sensor, suchas a solar energy sensor, for determining a variable associated with abrightness of an environment. Furthermore, instead of the light sensor626, in other embodiments, the automatic signaling system 620 is coupledto a clock of the vehicle 50. In such cases, a time can be used todetermine whether to allow automatic control of the turn signalingsystem 18 of the vehicle 50, and the automatic signaling system 620controls the turn signaling system 18 at a certain prescribed time of aday.

Automatic Signaling System with Moisture Sensing Capability

In some cases, a sensor of an automatic signaling system may capturebetter images when the vehicle 50 is being operated in a non-rainy day.As such, it may be desirable to allow automatic control of the turnsignaling system 18 when there is no rain. FIG. 6C illustrates aschematic block diagram of an automatic signaling system 640 inaccordance with other embodiments. The automatic signaling system 640includes a sensor 642, and a processor 644 coupled to the sensor 642.The sensor 642 is configured for sensing a condition of an environmentin which the vehicle 50 is traveling, and the processor 644 isconfigured to automatically activate and/or deactivate the turnsignaling system 18 of the vehicle 50 based on the sensed condition bythe sensor 642. The sensor 642 and the processor 644 can be any of thesensors and processors, respectively, described herein, and theoperations and functionalities of the sensor 642 and the processor 644are similar to those described previously. However, unlike thepreviously described embodiments, the processor 644 of the automaticsignaling system 640 is further configured to be coupled to a moisturesensor 646 for sensing a moisture of an environment outside the vehicle50. The automatic signaling system 640 may or may not include themoisture sensor 646.

During use, the processor 644 receives data or signal from the moisturesensor 646 regarding a moisture of an environment in which the vehicle50 is being operated, and uses the moisture data or signal as a criteriafor allowing automatic control of the turn signaling system 18 of thevehicle 50. In such cases, the processor 644 does not allow automaticactivation of the turn signaling system 18 if the moisture dataindicates that a moisture of the environment is above a prescribedlevel. However, when the moisture of the environment is below theprescribed level, the processor 644 then controls an activation and/ordeactivation of the turn signaling system 18, as similarly discussedpreviously.

In other embodiments, the automatic signaling system 640 includes aswitch (not shown) that is coupled to the moisture sensor 646. In suchcases, the switch activates and deactivates the sensor 642 and/or theprocessor 644, or block signals from the processor 644 to the turnsignaling system 18, when data or signal from the moisture sensor 646indicates that a moisture of an environment is above a prescribed level.On the other hand, when data or signal from the moisture sensor 646indicates that a moisture of an environment is below the prescribedlevel, the switch activates the sensor 642 and/or the processor 644, orallows signals be transmitted from the processor 644 to the turnsignaling system 18, thereby allowing the processor 644 to control theturn signaling system 18. The switch can be a separate component fromthe processor 644, or alternatively, be a part of the processor 644.

In alternative embodiments, instead of the moisture sensor 646, theautomatic signaling system 640 is coupled to a windshield wiper systemof the vehicle 50. In such cases, the automatic signaling system 620controls the turn signaling system 18 only when the windshield wipersystem is deactivated, and does not control the turn signaling system 18when the windshield wiper system is activated.

Automatic Signaling System with Learning Capability

Since different drivers may have different driving styles (e.g., somedrivers tend to sway left and right away from a center line of a lanemore than others), it may be desirable to provide an automatic signalingsystem with learning capability such that it can adapt to differentdrivers' driving styles. FIG. 7 illustrates a schematic block diagram ofan automatic signaling system 660 in accordance with other embodiments.The automatic signaling system 660 includes a sensor 662, and aprocessor 664 coupled to the sensor 662. The sensor 662 is configuredfor sensing a condition of an environment in which the vehicle 50 istraveling, and the processor 664 is configured to automatically activateand/or deactivate the turn signaling system 18 of the vehicle 50 basedon the sensed condition by the sensor 662. The sensor 662 and theprocessor 664 can be any of the sensors and processors, respectively,described herein, and the operations and functionalities of the sensor662 and the processor 664 are similar to those described previously. Inthe illustrated embodiments, the automatic signaling system 660 furtherincludes a memory 666 for storing data regarding operation data of thevehicle 50. The memory 666 is illustrated as a separate component fromthe processor 664, but alternatively, can be integrated with, or be apart of, the processor 664.

FIG. 8 illustrates a traveled path 800 of the vehicle 50 that istraveling within the lane 60. During use, the processor 664 determines adistance 802 between the vehicle 50 and the center line 61 of the lane60 as the vehicle 50 is traveling within the lane 60. The distance 802(which is shown as the distance between a peak of the traveled path 800and the center line 61 is that associated with the case in which thevehicle 50 has traveled away from the center line 61, but subsequentlymoved back without changing lane. The distance 802 are stored in thememory 666, and can be used by the processor 664 to adjust a criteriafor controlling the turn signaling system 18. If the stored distancedata indicates that a driver tends to sway relatively more (i.e.,compared to a prescribed threshold), the processor 664 then decreases asensitivity of the automatic signaling system 660. For example, theprocessor 664 can adjust a threshold value (e.g., the thresholds 510,512) such that the vehicle 50 can sway relatively more within the lane60 before the processor 664 activates the turn signaling system 18. Ifthe stored distance data indicates that a driver tends to swayrelatively less (i.e., compared to a prescribed threshold), theprocessor 664 then increases a sensitivity of the automatic signalingsystem 660. For example, the processor 664 can adjust a threshold value(e.g., the thresholds 510, 512) such that the a relatively less swayingdistance between the vehicle 50 and the center line 61 will result inthe processor 664 activating the turn signaling system 18. Although oneexample of operation data has been described, in alternativeembodiments, the operation data can include other data, such as adistance between the vehicle 50 and a lane boundary, a steering angle,directional vector of the vehicle 50, velocity vector of the vehicle 50,acceleration vector of the vehicle 50, or combination thereof.

In some embodiments, the processor 664 performs statistical analysisusing the stored distance 802 to determine how much to adjust a criteriafor activating the turn signaling system 18. For example, the processor664 can determine a distribution curve or a histogram representing afrequency of occurrence for each prescribed range of distance 802, anddetermines how much to adjust a criteria for activating the turnsignaling system 18 based on an analysis of the distribution curve orthe histogram. Other methods of analyzing the stored distance data canalso be used. In some embodiments, the processor 664 uses all thepreviously recorded operation data in the current analysis. In otherembodiments, the processor 664 uses only the most recent operation data,such as, operation data that are obtained within the last five minutes,or the last ten sets of operation data, in the current analysis.

In some embodiments, the automatic signaling system 660 deletespreviously recorded operation data of the vehicle 50 and records newoperation data of the vehicle 50 when the vehicle 50 is started. Inother embodiments, the automatic signaling system 660 does not deletepreviously recorded operation data, but continues to record additionaloperation data in different driving sessions. In such cases, theautomatic signaling system 660 creates different files for differentusers, with each file containing operation data for a specific user, andprovides a user interface (e.g., one or a plurality of buttons) forallowing a user to select his/her file when operating the vehicle 50. Insome embodiments, the automatic signaling system 660 associates anidentification stored in a key-memory with one of the stored files, suchthat when a user's key is inserted into an ignition system of thevehicle 50, the automatic signaling system 660 automatically selects thefile that is associated with the identification stored in thekey-memory.

Activating Turn Signaling System Based on Other Sensed Conditions

Although several examples of an automatic signaling system have beendescribed with reference to automatically activating the turn signalingsystem 18 of the vehicle 50 in response to a driver making a lane changemaneuver, the scope of the invention should not be so limited. Inalternative embodiments, any of the automatic signaling systemsdescribed herein can also be configured to control the turn signalingsystem 18 of the vehicle 50 in response to other sensed conditions. Forexample, in other embodiments, an automatic signaling system can beconfigured to identify an intersection, a road sign, a traffic light, apainted sign in a lane, a pedestrian curb, a pedestrian, a vehicle, orother objects in an environment in which the vehicle 50 is beingoperated. Based on the detected object(s) in the environment, theprocessor then determines whether the vehicle 50 is making a lane changemaneuver or is about to make a turn (e.g., at an intersection), andaccordingly, activates the appropriate turn signal lights 52, 54, 56, 58of the vehicle 50.

Switch for Automatic Signaling System

In any of the embodiments of the automatic signaling system describedherein, the automatic signaling system can further include a switch (ora user control), which allows a user to activate and/or de-activate theautomatic signaling system. FIG. 9A illustrates a turn signal control900 having a switch 902 for activating and deactivating an automaticsignaling system (e.g., the automatic signaling system 10, 300, 400,600, 620, 640, or 660) in accordance with some embodiments. The turnsignal control 900 has a first end 904, a second end 906, and a body 908extending between the first and the second ends 904, 906. The second end906 of the turn signal control 900 is rotatably coupled to a steeringwheel support 910. In the illustrated embodiments, the switch 902 islocated at the first end 904 of the turn signal control 900. The turnsignal control 900 can be positioned upward (as represented by arrow912) or downward (as represented by arrow 914) to activate the exteriorturn signal lights 52, 54, 56, 58 in a conventional manner. A user canpress the switch 902 once to activate an automatic signaling system,thereby allowing the automatic signaling system to automaticallyactivates turn signal lights of a vehicle. The switch 902 can be pressedagain to deactivate the automatic signaling system.

In the illustrated embodiments, the turn signal control 900 furtherincludes a sensitivity switch 920 for adjusting a sensitivity of theautomatic signaling system. The sensitivity switch 920 is located at thefirst end 914, and can be rotated about an axis 922 of the turn signalcontrol 900. Rotation of the switch 920 in a first direction increases asensitivity of the automatic signaling system, thereby allowing thevehicle 50 to sway less relative to the center line 61 of the lane 60before the automatic signaling system activates the turn signalingsystem 18. Rotation of the switch 920 in a second direction (i.e.,opposite from the first direction) decreases a sensitivity of theautomatic signaling system, thereby allowing the vehicle 50 to sway morerelative to the center line 61 of the lane 60 before the automaticsignaling system activates the turn signaling system 18. For example,for the automatic signaling system 400 described with reference to FIGS.4 and 5, rotation of the switch 920 in the first direction reduces adistance 514 between the thresholds 510, 512 in an image frame, androtation of the switch 920 in the second direction increases thedistance 514 between the thresholds 510, 512. In other embodiments, theturn signal control 900 does not include the sensitivity switch 920.

In some embodiments, data regarding the adjusted sensitivity can bestored in a memory, such as a key-memory of a key. In such cases, whenthe key is used to start the vehicle 50, the processor (e.g., theprocessor 14, 306, 406, 604, 624, 644, or 664) of the automaticsignaling system receives the data from the key-memory, and operates theturn signaling system 18 using the sensitivity associated with thereceived data. In other embodiments, the key only has an identificationand does not store data regarding a sensitivity of the automaticsignaling system. In such cases, the automatic signaling system includesan identification reader, which reads an identification in the key whenthe key is used to start the vehicle 50. The processor then associatesthe identification of the key with a sensitivity of the automaticsignaling system, and uses the sensitivity associated with theidentification of the key to operate the turn signaling system 18. Othermethods and devices can also be used to provide different sensitivity ofthe automatic signaling system for different users.

FIG. 9B illustrates a turn signal control 950 that can be used toactivate and deactivate an automatic signaling system in accordance withother embodiments. The turn signal control 950 has a first end 954, asecond end 956, and a body 958 extending between the first and thesecond ends 954, 956. The second end 956 of the turn signal control 950is rotatably coupled to a steering wheel support 960. The turn signalcontrol 950 can be positioned upward (as represented by arrow 962) ordownward (as represented by arrow 964) to the activate exterior turnsignal lights 52, 54, 56, 58 of the vehicle 50 in a conventional manner.The turn signal control 950 can also be positioned forward (asrepresented by arrow 966) or backward (as represented by arrow 968).

In the illustrated embodiments, pushing the turn signal control 950forward activates the automatic signaling system, and pulling the turnsignal control 950 backward deactivates the automatic signaling system.In other embodiments, the automatic signaling system is activated bypulling the turn signal control 950 backward once, and is deactivated bypulling the turn signal control 950 backward again after it has beenactivated. In such cases, the forward movement of the turn signalcontrol 950 can be reserved to perform another function, such as toactivate and deactivate headlights of a vehicle. Also in otherembodiments, the automatic signaling system is activated by pushing theturn signal control 950 forward once, and is deactivated by pushing theturn signal control 950 forward again after it has been activated. Insuch cases, the backward movement of the turn signal control 950 can bereserved to perform another function, such as to activate and deactivateheadlights of a vehicle.

The turn signal control 950 also includes a sensitivity switch 970 foradjusting a sensitivity of the automatic signaling system, as similarlydiscussed previously. However, in other embodiments, the turn signalcontrol 950 does not include the sensitivity switch 970.

Although several examples of switches for activating an automaticsignaling system have been described, the scope of the invention shouldnot be so limited. In alternative embodiments, instead of implementing aswitch at a turn signal control, or instead of using the turn signalcontrol, to activate an automatic signaling system, an automaticsignaling system can include an activation switch and/or a sensitivityswitch located at other positions within a compartment of the vehicle20. For example, either or both of an activation switch and asensitivity switch can be located on a dashboard, a steering wheel, adoor panel, a transmission control, or a roof, of the vehicle 50. Inaddition, although the embodiments of the switches have been describedwith reference to automatic signaling systems described herein, thescope of the invention should not be so limited. In alternativeembodiments, any of the switches described herein can be used for otherautomatic signaling systems not described herein.

Computer Architecture

FIG. 10 is a block diagram that illustrates an embodiment of a computersystem 1200 upon which embodiments may be implemented. Computer system1200 includes a bus 1202 or other communication mechanism forcommunicating information, and a processor 1204 coupled with bus 1202for processing information. Computer system 1200 also includes a mainmemory 1206, such as a random access memory (RAM) or other dynamicstorage device, coupled to bus 1202 for storing information andinstructions to be executed by processor 1204. Main memory 1206 also maybe used for storing temporary variables or other intermediateinformation during execution of instructions to be executed by processor1204. Computer system 1200 may further include a read only memory (ROM)1208 or other static storage device coupled to bus 1202 for storingstatic information and instructions for processor 1204. A data storagedevice 1210, such as a magnetic disk or optical disk, is provided andcoupled to bus 1202 for storing information and instructions.

Computer system 1200 may be coupled via bus 1202 to a display 1212, suchas a cathode ray tube (CRT) or a flat panel display, for displayinginformation to a user. An input device 1214, including alphanumeric andother keys, is coupled to bus 1202 for communicating information andcommand selections to processor 1204. Another type of user input deviceis cursor control 1216, such as a mouse, a trackball, or cursordirection keys for communicating direction information and commandselections to processor 1204 and for controlling cursor movement ondisplay 1212. This input device typically has two degrees of freedom intwo axes, a first axis (e.g., x) and a second axis (e.g., y), thatallows the device to specify positions in a plane.

According to some embodiments, computer system 1200 is used to activatethe turn signaling system 18 of the vehicle 50 in response to processor1204 executing one or more sequences of one or more instructionscontained in the main memory 1206. Such instructions may be read intomain memory 1206 from another computer-readable medium, such as storagedevice 1210. Execution of the sequences of instructions contained inmain memory 1206 causes processor 1204 to perform the process stepsdescribed herein. One or more processors in a multi-processingarrangement may also be employed to execute the sequences ofinstructions contained in main memory 1206. In alternative embodiments,hard-wired circuitry may be used in place of or in combination withsoftware instructions to implement the embodiments described herein.Thus, embodiments are not limited to any specific combination ofhardware circuitry and software.

The term “computer-readable medium” as used herein refers to any mediumthat participates in providing instructions to processor 1204 forexecution. Such a medium may take many forms, including but not limitedto, non-volatile media, volatile media, and transmission media.Non-volatile media includes, for example, optical or magnetic disks,such as storage device 1210. Volatile media includes dynamic memory,such as main memory 1206. Transmission media includes coaxial cables,copper wire and fiber optics, including the wires that comprise bus1202. Transmission media can also take the form of acoustic or lightwaves, such as those generated during radio wave and infrared datacommunications.

Common forms of computer-readable media include, for example, a floppydisk, a flexible disk, hard disk, magnetic tape, or any other magneticmedium, a CD-ROM, any other optical medium, punch cards, paper tape, anyother physical medium with patterns of holes, a RAM, a PROM, and EPROM,a FLASH-EPROM, any other memory chip or cartridge, a carrier wave asdescribed hereinafter, or any other medium from which a computer canread.

Various forms of computer-readable media may be involved in carrying oneor more sequences of one or more instructions to processor 1204 forexecution. For example, the instructions may initially be carried on amagnetic disk of a remote computer. The remote computer can load theinstructions into its dynamic memory and send the instructions over atelephone line using a modem. A modem local to computer system 1200 canreceive the data on the telephone line and use an infrared transmitterto convert the data to an infrared signal. An infrared detector coupledto bus 1202 can receive the data carried in the infrared signal andplace the data on bus 1202. Bus 1202 carries the data to main memory1206, from which processor 1204 retrieves and executes the instructions.The instructions received by main memory 1206 may optionally be storedon storage device 1210 either before or after execution by processor1204.

Computer system 1200 also includes a communication interface 1218coupled to bus 1202. Communication interface 1218 provides a two-waydata communication coupling to a network link 1220 that is connected toa local network 1222. For example, communication interface 1218 may bean integrated services digital network (ISDN) card or a modem to providea data communication connection to a corresponding type of telephoneline. As another example, communication interface 1218 may be a localarea network (LAN) card to provide a data communication connection to acompatible LAN. Wireless links may also be implemented. In any suchimplementation, communication interface 1218 sends and receiveselectrical, electromagnetic or optical signals that carry data streamsrepresenting various types of information. In some embodiments, thecomputer system 1200 (or any of the processors described herein)receives programmed instructions from a wireless network. In such cases,the programmed instructions represent an algorithm and/or prescribedcriteria, which the computer system 1200 (or the processor) can use tocontrol the turn signaling system 18 of the vehicle 50.

Network link 1220 typically provides data communication through one ormore networks to other devices. For example, network link 1220 mayprovide a connection through local network 1222 to a host computer 1224.The data streams transported over the network link 1220 can compriseelectrical, electromagnetic or optical signals. The signals through thevarious networks and the signals on network link 1220 and throughcommunication interface 1218, which carry data to and from computersystem 1200, are exemplary forms of carrier waves transporting theinformation. Computer system 1200 can send messages and receive data,including program code, through the network(s), network link 1220, andcommunication interface 1218. Although one network link 1220 is shown,in alternative embodiments, communication interface 1218 can providecoupling to a plurality of network links, each of which connected to oneor more local networks. In some embodiments, computer system 1200 mayreceive data from one network, and transmit the data to another network.Computer system 1200 may process and/or modify the data beforetransmitting it to another network.

Although particular embodiments have been shown and described, it willbe understood that it is not intended to limit the present inventions tothe illustrated embodiments, and it will be obvious to those skilled inthe art that various changes and modifications may be made withoutdeparting from the spirit and scope of the present inventions. Forexample, the operations performed by any of the processors 14, 306, 406,604, 624, 644, 664 can be performed by any combination of hardware andsoftware, and should not be limited to particular embodiments comprisinga particular definition of “processor”. In addition, different featuresdescribed with reference to different embodiments can be combined. Forexample, in some embodiments, an automatic signaling system can includeboth the speed sensor 606 and the light sensor 626. The specificationand drawings are, accordingly, to be regarded in an illustrative ratherthan restrictive sense. The present inventions are intended to coveralternatives, modifications, and equivalents, which may be includedwithin the spirit and scope of the present inventions as defined by theclaims.

What is claimed:
 1. An apparatus for use with a car, comprising: aninput configured to receive data from a laser device; a processing unitconfigured to process the data from the laser device, and to determine acontrol signal for controlling a component of the car; and an output forproviding the control signal for controlling the component of the car;wherein the processing unit is also configured to receive informationfrom a wireless network.
 2. The apparatus of claim 1, wherein theprocessing unit is configured to process the data from the laser deviceto determine a spatial relationship between the car and an environmentin which the car is traveling.
 3. The apparatus of claim 1, wherein thecontrol signal is for controlling a signaling system of the car.
 4. Theapparatus of claim 1, wherein the processing unit is configured toprocess the data from the laser device to identify an intersection. 5.The apparatus of claim 1, wherein the processing unit is configured toprocess the data from the laser device to identify a traffic light. 6.An apparatus for use with a car, comprising: an input configured toreceive data from a laser device; a processing unit configured toprocess the data from the laser device, and to determine a controlsignal for controlling a component of the car; and an output forproviding the control signal for controlling the component of the car;wherein the processing unit is configured to process the data from thelaser device to identify a vehicle.
 7. The apparatus of claim 6, whereinthe processing unit is configured to process the data from the laserdevice to also identify a road sign.
 8. An apparatus for use with a car,comprising: an input configured to receive data from a laser device; aprocessing unit configured to process the data from the laser device,and to determine a control signal for controlling a component of thecar; and an output for providing the control signal for controlling thecomponent of the car; wherein the processing unit is configured toprocess the data from the laser device to identify a pedestrian curb. 9.An apparatus for use with a car, comprising: an input configured toreceive data from a laser device; a processing unit configured toprocess the data from the laser device, and to determine a controlsignal for controlling a component of the car; and an output forproviding the control signal for controlling the component of the car;wherein the processing unit is configured to process the data from thelaser device to identify a pedestrian.
 10. An apparatus for use with acar, comprising: a processing unit configured to receive data from alaser device, the processing unit configured to automatically activate aturn signal light of the car based on the received data to therebyobviate a need for manual activation of the turn signal light.
 11. Theapparatus of claim 10, wherein the processing unit is configured tooperate independent of a turning angle of a wheel of the car.
 12. Theapparatus of claim 10, further comprising the laser device.
 13. Theapparatus of claim 10, wherein the processing unit is configured toidentify a portion of a lane in which the car is traveling.
 14. Theapparatus of claim 10, wherein the processing unit is configured toautomatically activate the turn signal light of the car that correspondswith a lane change direction.
 15. The apparatus of claim 10, wherein theprocessing unit is configured to identify an intersection, a road sign,a traffic light, a pedestrian curb, or any combination of the foregoing,based on the data from the laser device.
 16. The apparatus of claim 10,wherein the processing unit is configured to process the data from thelaser device to identify a pedestrian.
 17. The apparatus of claim 10,wherein the processing unit is configured to process the data from thelaser device to identify a vehicle.